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Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

✍ Scribed by A. Astolfi; D. Chhabra; R. Ortega

Publisher: Elsevier Science
Year: 2002
Tongue: English
Weight: 244 KB
Volume: 45
Category: Article
ISSN: 0167-6911
DOI: 10.1016/s0167-6911(01)00176-1

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✦ Synopsis

The stabilization problem for selected relative equilibria of an underactuated rigid body, modelling a simple underwater vehicle, moving in an ideal uid is addressed. State feedback control laws achieving local asymptotic stability of a forward motion and of a diving=rising with forward=reverse motion are proposed. The control design exploits the Hamiltonian nature of the system to be controlled and it is based on the so-called interconnection and damping assignment (IDA) procedure. Simulation results complete the work.

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